/** \brief Generate a simple ODE */
void simpleODE(FX& ffcn, double& tf, vector<double>& x0, double& u0){
// Time
SXMatrix t = ssym("t");
// Parameter
SXMatrix u = ssym("u");
// Differential states
SXMatrix s = ssym("s"), v = ssym("v"), m = ssym("m");
SXMatrix x;
x.append(s);
x.append(v);
x.append(m);
// Constants
double alpha = 0.05; // friction
double beta = 0.1; // fuel consumption rate
// Differential equation
SXMatrix ode;
ode.append(v);
ode.append((u-alpha*v*v)/m);
ode.append(-beta*u*u);
// Quadrature
SXMatrix quad = pow(v,3) + pow((3-sin(t))-u,2);
// Callback function
ffcn = SXFunction(daeIn("t",t,"x",x,"p",u),daeOut("ode",ode,"quad",quad));
// End time
tf = 0.5;
// Initial value
x0.resize(3);
x0[0] = 0;
x0[1] = 0;
x0[2] = 1;
// Parameter
u0 = 0.4;
}
